add ESP_CHECK and one example usage

[eundersander]

Motivation and Context

Add ESP_CHECK macro, for use with fatal runtime errors. The Check.h header also gives guidelines on error-handling in Habitat-sim.

Thanks @mosra for providing most of the implementation here.

See this internal doc for more discussion.

I added one example usage of ESP_CHECK in LightSetup.cpp.

How Has This Been Tested

Ad hoc testing from a Python unit test (causing an AssertionError exception) and a C++ unit test (causing an abort).

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.